Intelligent inspection robot based on visual auxiliary inspection

Abstract

The invention discloses an intelligent inspection robot based on visual auxiliary inspection, which belongs to the technical field of robots and comprises a robot body, an upper fixed gear ring rotationally connected to one end of a mechanical arm of the robot body, a hollow worm fixedly connected to the bottom end of the upper fixed gear ring and a claw clamping assembly arranged on the surface of the hollow worm. And the claw clamping assembly comprises a fixed driving rod rotationally arranged on the surface of the hollow worm, the surface of the fixed driving rod is fixedly connected with claw clamping U-shaped blocks distributed in the circumferential direction, the top ends of the claw clamping U-shaped blocks are fixedly connected with the end of the mechanical arm, and mechanical claws are arranged on the outer sides of the claw clamping U-shaped blocks. According to the invention, the mechanical claw, the tooth detection rod and the oblique measurement correlation photoelectric sensor are arranged, the to-be-detected helical gear is rotated by one circle, and the oblique measurement correlation photoelectric sensor is used for measuring whether the movement distance of the tooth detection rod reaches the standard or not, so that whether the helical angle of the helical tooth is qualified or not is judged; meanwhile, the detection of the helical angle of the helical teeth and the statistics of the number of the teeth are automatically completed.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an intelligent inspection robot based on visual-assisted detection. Background Art

[0002] Helical gears are a common part often used in mechanical transmission. The teeth of the helical gears form an angle with the base axis in the direction of the cylindrical surface extension. This angle is called the helical angle. The teeth of the helical gears do not extend parallel to the base axis, but extend spirally along the cylindrical surface. This design enables the helical gears to generate axial force during transmission, thereby improving the transmission efficiency and load-bearing capacity. Therefore, after the helical gears are produced, it is necessary to test whether their helical angles are qualified. The existing testing method mainly uses a robot to pick up the helical gears onto a conveyor line, and then the conveyor line transports the helical gears to be tested to the testing mechanism for testing. This testing method undoubtedly adds unnecessary operating steps and reduces the testing efficiency of the helical gears.

[0003] In addition, the bevel gear not only needs to detect the helix angle of the teeth, but also the number of teeth and the inner diameter of the bevel gear. The detection of the number of teeth, inner diameter and helix angle of the existing helical gear requires different detection equipment, which further reduces the detection efficiency of the helical gear. Therefore, an intelligent inspection robot based on vision-assisted detection is proposed to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the detection of the helix angle, number of teeth and inner diameter of the helical gears in the prior art requires a robot to pick up the helical gears and put them on a conveyor line, which are then transported to the detection equipment for detection and different detection equipment are required, resulting in low detection efficiency. An intelligent inspection robot based on vision-assisted detection is proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An intelligent inspection robot based on visual assisted detection comprises a robot body, an upper fixed gear ring rotatably connected to one end of a mechanical arm of the robot body, a hollow worm fixedly connected to the bottom end of the upper fixed gear ring, and a claw clamp assembly arranged on the surface of the hollow worm, wherein the claw clamp assembly comprises a fixed driving rod rotatably arranged on the surface of the hollow worm, the surface of the fixed driving rod is fixedly connected with a circumferentially distributed claw clamp U-shaped block, the top of the claw clamp U-shaped block is fixedly connected to the end of the mechanical arm, a mechanical claw is arranged on the outer side of the claw clamp U-shaped block, a worm wheel meshing with the hollow worm is arranged on the inner side of the claw clamp U-shaped block, a rotating shaft is fixedly connected at the center of the worm wheel, the rotating shaft passes through the side wall of the claw clamp U-shaped block, and both ends of the rotating shaft are fixedly connected to the mechanical claw;

[0007] A detection bevel groove is provided on the side wall of the mechanical claw near the bottom end, a detection assembly for detecting the helical angle of the helical gear teeth is arranged inside the detection bevel groove, the detection assembly comprises a fixed block fixedly connected to the back of the mechanical claw, a passive slider is slidably connected to the back of the mechanical claw, a tooth detection rod arranged through the detection bevel groove is fixedly connected to one end of the passive slider facing the detection bevel groove, an obliquely directed photoelectric sensor is installed on one end of the fixed block facing the passive slider, and a connecting spring is fixedly connected between the fixed block and the passive slider;

[0008] The bottom end of the hollow worm is fixedly connected with a lower fixed gear ring, the inner wall of the hollow worm is rotatably connected with a transfer tube, the bottom end of the transfer tube is fixedly connected with a transfer disc, the side wall of the transfer tube is provided with circumferentially distributed through compensation grooves, the bottom end of the transfer disc is provided with a movable through groove penetrating the transfer disc, a sliding transfer block is slidably connected in the movable through groove, and the bottom end of the sliding transfer block is fixedly connected with an inner support plate.

[0009] Preferably, a groove is formed at one end of the mechanical arm, a clamping motor is installed in the groove, and an output shaft of the clamping motor is fixedly connected to a driving gear meshing with an upper fixed gear ring.

[0010] Preferably, one end of the robotic arm is fixedly connected to a fixed driving rod extending into the interior of the hollow worm gear, the surface of the fixed driving rod is threadedly connected to a trapezoidal pushing block, and the top of the trapezoidal pushing block is fixedly connected to a connecting sliding rod slidably connected to the inner wall of the hollow worm gear.

[0011] Preferably, a rotating motor is installed on the top of the adapter disc, and the output end of the rotating motor is fixedly connected to a rolling gear meshing with the lower fixed gear ring.

[0012] Preferably, a hole is provided on the surface of the tooth detection rod, and a crack detection camera is installed inside the hole.

[0013] Preferably, the surface of the inner support plate is provided with a rubber layer, the surface of the rubber layer is provided with anti-slip grooves, the inner wall of the movable through groove is installed with an inner diameter reflecting photoelectric sensor, the sliding adapter block is connected to the inner wall of the movable through groove with a reset spring, and the top of the sliding adapter block is fixedly connected with an oblique guide plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. This scheme is provided with a mechanical claw, a tooth detection rod and an oblique measurement photoelectric sensor. By making the helical gear to be tested rotate one circle, the helical teeth on the helical gear are used to push the tooth detection rod to move obliquely upward, and the oblique measurement photoelectric sensor is used to measure whether the moving distance of the tooth detection rod meets the standard, and judge whether the helix angle of the helical teeth is qualified. At the same time, the controller inside the robot body counts the number of signals fed back by the oblique measurement photoelectric sensor, and realizes the function of counting the number of helical teeth on the surface of the helical gear, thereby realizing the automatic completion of the detection of the helical angle of the helical teeth and the counting of the number of teeth in the process of picking and transferring the helical gear.

[0016] 2. This solution sets circumferentially distributed crack detection cameras on the surface of the tooth detection rod. During the movement of the tooth detection rod, the tooth detection rod will rotate due to the friction between the tooth detection rod and the helical teeth, thereby driving the crack detection cameras around it to rotate, so that the image of the tooth surface can be transmitted to the controller inside the robot body. The controller inside the robot body can detect whether there are cracks on the surface of the helical teeth.

[0017] 3. This scheme uses an inner support plate and an inner diameter photoelectric sensor. By extending the inner support plate to the inner hole of the gear at the center of the helical gear, the inner support plate is moved around to achieve the support and clamping function of the gear inner hole, thereby achieving the clamping and positioning of the helical gear. The inner diameter photoelectric sensor is used to measure the moving distance of the sliding adapter block, thereby achieving the measurement of the moving distance of the inner support plate, so as to determine whether the aperture of the gear inner hole is qualified, thereby achieving the detection function of the gear inner hole aperture. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the three-dimensional structure of the intelligent inspection robot based on visual assisted detection proposed by the present invention Figure 1 ;

[0019] Figure 2 Schematic diagram of the three-dimensional structure of the intelligent inspection robot based on visual assisted detection proposed by the present invention Figure 2 ;

[0020] Figure 3 This is a schematic diagram of the connection structure between the claw clamp assembly and the hollow worm gear in the intelligent inspection robot based on vision-assisted detection proposed by the present invention;

[0021] Figure 4 This is a schematic diagram of the assembly structure of the claw clamp assembly and the hollow worm in the intelligent inspection robot based on vision-assisted detection proposed by the present invention;

[0022] Figure 5 This is a schematic diagram of the cross-sectional structure of a hollow worm in an intelligent inspection robot based on vision-assisted detection proposed by the present invention;

[0023] Figure 6 This is a schematic diagram of the assembly structure of the mechanical claw and the tooth detection rod in the intelligent inspection robot based on vision-assisted detection proposed by the present invention;

[0024] Figure 7 This is a schematic diagram of the assembly structure of the transfer disc, transfer tube and inner support plate in the intelligent inspection robot based on vision-assisted detection proposed by the present invention;

[0025] Figure 8 This is a schematic diagram of the direction of the tooth detection rod when the bevel gear rotates in the intelligent inspection robot based on vision-assisted detection proposed by the present invention.

[0026] In the figure: 1. Mechanical claw; 101. Detection inclined groove; 2. Hollow worm; 3. Claw clamp U-shaped block; 4. Worm wheel; 5. Inner support plate; 6. Rotating motor; 7. Driving gear; 8. Adapter disc; 9. Tooth detection rod; 10. Rolling gear; 11. Upper fixed gear ring; 12. Clamping motor; 13. Adapter tube; 1301. Through compensation groove; 14. Lower fixed gear ring; 15. Oblique push plate; 16. Fixed driving rod; 17. Trapezoidal push block; 18. Passive slider; 19. Connecting spring; 20. Oblique opposing photoelectric sensor; 21. Fixed block; 22. Crack detection camera; 23. Sliding adapter block; 24. Inner diameter opposing photoelectric sensor; 25. Reset spring; 26. Connecting slide rod. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Example, see Figures 1 to 8 , an intelligent inspection robot based on visual assisted detection, including a robot body, an upper fixed gear ring 11 rotatably connected to one end of the robot body mechanical arm, a hollow worm 2 fixedly connected to the bottom end of the upper fixed gear ring 11, and a claw clamp assembly arranged on the surface of the hollow worm 2, the claw clamp assembly includes a fixed driving rod 16 rotatably arranged on the surface of the hollow worm 2, the surface of the fixed driving rod 16 is fixedly connected with a circumferentially distributed claw clamp U-shaped block 3, the top of the claw clamp U-shaped block 3 is fixedly connected to the end of the mechanical arm, a mechanical claw 1 is arranged on the outer side of the claw clamp U-shaped block 3, a worm wheel 4 meshing with the hollow worm 2 is arranged on the inner side of the claw clamp U-shaped block 3, a rotating shaft is fixedly connected at the center of the worm wheel 4, the rotating shaft passes through the side wall of the claw clamp U-shaped block 3, and both ends of the rotating shaft are fixedly connected to the mechanical claw 1; further, a groove is opened at one end of the mechanical arm, a clamping motor 12 is installed in the groove, and the output shaft of the clamping motor 12 is fixedly connected with a driving gear 7 meshing with the upper fixed gear ring 11.

[0031] It should be noted that: the clamping motor 12 drives the driving gear 7 at its output end to rotate, the driving gear 7 drives the upper fixed gear ring 11 meshing with it to rotate, and then drives the hollow worm 2 to rotate, the hollow worm 2 drives the worm wheels 4 around it to rotate, and the worm wheel 4 is used to drive the mechanical claw 1 to rotate, thereby realizing the function of clamping the helical gear from the outside.

[0032] A detection bevel groove 101 is provided on the side wall near the bottom end of the mechanical claw 1. A detection component for detecting the helical angle of the helical gear teeth is provided inside the detection bevel groove 101. The detection component includes a fixed block 21 fixedly connected to the back of the mechanical claw 1. A passive slider 18 is slidably connected to the back of the mechanical claw 1. A tooth detection rod 9 penetrating the detection bevel groove 101 is fixedly connected to one end of the passive slider 18 facing the detection bevel groove 101. An obliquely directed photoelectric sensor 20 is installed on one end of the fixed block 21 facing the passive slider 18. A connecting spring 19 is fixedly connected between the fixed block 21 and the passive slider 18.

[0033] It should be noted that: when the mechanical claw 1 realizes the clamping function of the helical gear from the outside, the tooth detection rod 9 will extend to the gap between adjacent helical teeth on the surface of the helical gear;

[0034] It is worth noting that: the end of the tooth detection rod 9 is only in contact with the helical gear without extrusion force, and the inclination direction of the detection inclined groove 101 intersects with the inclination direction of the helical teeth.

[0035] It should be noted that: by making the helical gear rotate intermittently for one circle, the angle of each rotation is 1 / N degree, N is the number of helical teeth on the surface of the helical gear, and the helical teeth on the surface of the helical gear are used to push the tooth detection rod 9 to move along the detection bevel groove 101. In this process, the tooth detection rod 9 drives the passive slider 18 to move along the detection bevel groove 101, thereby compressing the connecting spring 19. At the same time, the oblique photoelectric sensor 20 will measure the moving distance of the passive slider 18, that is, the moving distance of the tooth detection rod 9. When the tooth detection rod 9 is separated from the helical teeth, the tooth detection rod 9 moves to the maximum distance. By measuring the moving distance of the tooth detection rod 9, it can be judged whether the helical angle of the helical teeth is qualified (helical teeth with different helical angles have different inclination angles, and thus push the tooth detection rod 9 to move different distances). When the tooth detection rod 9 moves to the next helical tooth position, under the elastic force of the connecting spring 19, the tooth detection rod 9 is reset and contacts the helical teeth at the next position, so as to perform helical angle detection on the helical teeth at the next position.

[0036] Furthermore, a hole is opened on the surface of the tooth detection rod 9, and a crack detection camera 22 is installed inside the hole. During the movement of the tooth detection rod 9, the tooth detection rod 9 will rotate under the action of the friction between the helical teeth, thereby driving the crack detection cameras 22 around it to rotate, so that the image of the tooth surface can be transmitted to the controller inside the robot body. The controller inside the robot body can realize the function of detecting whether there are cracks on the surface of the helical teeth.

[0037] The bottom end of the hollow worm 2 is fixedly connected with a lower fixed gear ring 14, and the inner wall of the hollow worm 2 is rotatably connected with a transfer tube 13, and the bottom end of the transfer tube 13 is fixedly connected with an transfer disk 8. The side wall of the transfer tube 13 is provided with a circumferentially distributed penetrating compensation groove 1301 (the setting of the compensation groove increases the moving space of the oblique thrust plate 15, thereby increasing the moving distance of the inner support plate 5, which is convenient for supporting the inner holes of gears with different apertures). A moving through groove that penetrates the transfer disk 8 is provided at the bottom end of the transfer disk 8, and a sliding transfer block 23 is slidably connected in the moving through groove. The bottom end of the sliding transfer block 23 is fixedly connected with the inner support plate 5. Furthermore, a rubber layer is provided on the surface of the inner support plate 5, and anti-slip grooves are provided on the surface of the rubber layer. An inner diameter corresponding photoelectric sensor 24 is installed on the inner wall of the moving through groove, and a reset spring 25 is connected to the sliding transfer block 23 and the inner wall of the moving through groove. The top of the sliding transfer block 23 is fixedly connected with the oblique thrust plate 15.

[0038] It should be noted that: the inner support plate 5 moves around until it squeezes the inner wall of the gear inner hole. Under the action of the rubber layer on the surface of the inner support plate 5, the friction between the inner support plate 5 and the inner wall of the gear inner hole can be significantly increased, which makes it easier for the inner support plate 5 to drive the helical gear to move and realize the robot's picking function for the helical gear.

[0039] The inner diameter photoelectric sensor 24 can measure the moving distance of the sliding adapter block 23, and then measure the moving distance of the inner support plate 5. The aperture size of the gear inner hole determines the moving distance of the inner support plate 5, and then the moving distance of the inner support plate 5 can be used to judge whether the gear inner hole is qualified.

[0040] Furthermore, one end of the robotic arm is fixedly connected to a fixed driving rod 16 extending into the interior of the hollow worm gear 2, a trapezoidal pushing block 17 is threadedly connected to the surface of the fixed driving rod 16, and a connecting slide rod 26 slidably connected to the inner wall of the hollow worm gear 2 is fixedly connected to the top of the trapezoidal pushing block 17.

[0041] Furthermore, a rotating motor 6 is installed on the top of the adapter disc 8 , and a rolling gear 10 meshing with the lower fixed gear ring 14 is fixedly connected to the output end of the rotating motor 6 .

[0042] It should be noted that: the rolling gear 10 at its output end is driven to rotate by the rotating motor 6, so that the rolling gear 10 rolls along the lower fixed gear ring 14, thereby driving the adapter disc 8 to rotate, and the adapter disc 8 drives the inner support plate 5 to rotate through the sliding adapter block 23, and the inner support plate 5 drives the bevel gear to rotate, providing driving force for the rotation of the bevel gear.

[0043] When the present invention is used, the mechanical arm on the robot body is used to drive the mechanical claw 1 to move to the bevel gear to be picked up and transferred, and the clamping motor 12 is turned on, and the clamping motor 12 drives the driving gear 7 at its output end to rotate, and the driving gear 7 drives the upper fixed gear ring 11 meshing with it to rotate, and the upper fixed gear ring 11 drives the hollow worm 2 to rotate, and the hollow worm 2 drives the worm wheel 4 meshing with it to rotate, and the worm wheel 4 drives the mechanical claw 1 to rotate, so that the mechanical claw 1 at each location can realize the clamping function of the bevel gear;

[0044] At this time, the tooth detection rod 9 extends to the gap between adjacent helical teeth on the surface of the helical gear. At this time, there is only contact between the tooth detection rod 9 and the helical gear without extrusion force, ensuring that the helical gear can rotate later;

[0045] While the above process is being carried out, the hollow worm 2 drives the trapezoidal push block 17 to rotate through the connecting slide rod 26. Under the action of the threaded connection between the trapezoidal push block 17 and the fixed drive rod 16, the fixed drive rod 16 moves downward. When the trapezoidal push block 17 contacts the inclined surface of the inclined guide plate 15, the trapezoidal push block 17 pushes the inclined guide plate 15 to move horizontally. The inclined guide plate 15 drives the sliding adapter block 23 at its bottom end to slide along the moving through groove and compress the reset spring 25. The sliding adapter block 23 drives the inner support plate 5 to move until the inner support plate 5 is connected to the inner support plate 5. The inner wall of the gear inner hole at the center of the helical gear is touched and squeezed. During this process, the inner diameter photoelectric sensor 24 can measure the moving distance of the sliding adapter block 23, and then measure the moving distance of the inner support plate 5, and send the measured data to the controller inside the robot body. The controller compares the received data with the threshold value (the moving distance of the inner support plate 5 in the standard gear inner hole). If the difference between the two is within the error range, it means that the gear inner hole of the helical gear is qualified; otherwise, it means that it is unqualified, thereby realizing the automatic detection function of the gear inner hole diameter at the center of the helical gear;

[0046] By utilizing the friction between the inner support plate 5 and the inner wall of the inner hole of the gear, the inner support plate 5 can drive the helical gear to move, so that the robot body can realize the picking function of the helical gear;

[0047] During the picking and transferring process, the controller controls the rotating motor 6 to work, and the rotating motor 6 drives the rolling gear 10 at its output end to rotate intermittently for one circle, and the rolling gear 10 intermittently rolls along the lower fixed gear ring 14, so that the rotating motor 6 drives the transfer disc 8 to rotate intermittently, and the transfer disc 8 drives the transfer tube 13 at its top to rotate intermittently, and at the same time, the transfer disc 8 drives the inner support plate 5 at its bottom to rotate intermittently through the sliding transfer block 23, and the inner support plate 5 drives the helical gear to rotate intermittently by friction (the angle of each rotation is 1 / N degree, N is the number of helical teeth on the surface of the helical gear);

[0048] When the helical gear drives the helical teeth on its surface to rotate, the helical teeth push the tooth detection rod 9 to move along the detection bevel groove 101. In this process, the tooth detection rod 9 drives the passive slider 18 to move along the detection bevel groove 101, thereby compressing the connecting spring 19. At the same time, the oblique photoelectric sensor 20 measures the moving distance of the passive slider 18, that is, the moving distance of the tooth detection rod 9. When the tooth detection rod 9 is separated from the helical teeth, the tooth detection rod 9 moves to the maximum distance. By uploading the measured moving distance of the tooth detection rod 9 to the controller inside the robot body, the controller compares the received distance information with the threshold value (for helical teeth with standard helical angle, the moving distance of the tooth detection rod 9), and can judge whether the helical angle of the helical teeth is qualified (for helical teeth with different helical angles). , the inclination angle is different, and thus the moving distance of the tooth detection rod 9 is different). When the tooth detection rod 9 moves to the next helical tooth position, under the elastic force of the connecting spring 19, the tooth detection rod 9 is reset and contacts the helical tooth at the next position, so as to detect the helical angle of the helical tooth at the next position. By analogy, the detection function of the helical angles of all helical teeth is realized. During the movement of the tooth detection rod 9, the tooth detection rod 9 rotates under the action of the friction between the tooth detection rod 9 and the helical teeth, thereby driving the surrounding crack detection cameras 22 to rotate, so that the image of the tooth surface can be transmitted to the controller inside the robot body. The controller inside the robot body can analyze the image information to realize the function of detecting whether there are cracks on the helical tooth surface.

[0049] At the same time, the controller counts the number of times the oblique photoelectric sensor 20 uploads data, thereby realizing the function of counting the number of helical teeth on the surface of the picked helical gear, and then detecting whether the picked helical gear is missing teeth. The robot can simultaneously detect the inner hole diameter of the helical gear, the number of helical teeth, the helix angle of the helical teeth, and whether there are cracks on the surface of the helical teeth in the process of picking up and transferring the helical gear, thereby significantly shortening the detection process and improving the detection efficiency of the helical gear.

[0050] During the above inspection process, if any of the inspection items of the inner hole diameter of the helical gear, the number of helical teeth, the helix angle of the helical teeth, and whether there are cracks on the surface of the helical teeth fail to meet the requirements, the robot body will place it in the recycling area through the robotic arm, and the qualified helical gears will be placed on the conveyor line for transportation.

[0051] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent inspection robot based on visual assisted detection, comprising a robot body, an upper fixed gear ring (11) rotatably connected to one end of a mechanical arm of the robot body, a hollow worm (2) fixedly connected to the bottom end of the upper fixed gear ring (11), and a claw clamp assembly arranged on the surface of the hollow worm (2), characterized in that: The claw clamp assembly comprises a fixed driving rod (16) rotatably arranged on the surface of the hollow worm (2); the surface of the fixed driving rod (16) is fixedly connected with a claw clamp U-shaped block (3) distributed circumferentially; the top of the claw clamp U-shaped block (3) is fixedly connected with the end of the mechanical arm; a mechanical claw (1) is arranged on the outer side of the claw clamp U-shaped block (3); a worm wheel (4) meshing with the hollow worm (2) is arranged on the inner side of the claw clamp U-shaped block (3); a rotating shaft is fixedly connected at the center of the worm wheel (4); the rotating shaft passes through the side wall of the claw clamp U-shaped block (3); and both ends of the rotating shaft are fixedly connected with the mechanical claw (1); The mechanical claw (1) is provided with a detection inclined groove (101) on the side wall near the bottom end, and a detection component for detecting the helical angle of the helical gear teeth is arranged inside the detection inclined groove (101), and the detection component comprises a fixed block (21) fixedly connected to the back of the mechanical claw (1), and a passive slider (18) is slidably connected to the back of the mechanical claw (1), and a tooth detection rod (9) penetrating the detection inclined groove (101) is fixedly connected to the end of the passive slider (18) facing the detection inclined groove (101), and an obliquely directed photoelectric sensor (20) is installed on the end of the fixed block (21) facing the passive slider (18), and a connecting spring (19) is fixedly connected between the fixed block (21) and the passive slider (18); The bottom end of the hollow worm (2) is fixedly connected to a lower fixed gear ring (14); the inner wall of the hollow worm (2) is rotatably connected to a transfer tube (13); the bottom end of the transfer tube (13) is fixedly connected to a transfer disk (8); the side wall of the transfer tube (13) is provided with circumferentially distributed penetrating compensation grooves (1301); the bottom end of the transfer disk (8) is provided with a movable through groove penetrating the transfer disk (8); a sliding transfer block (23) is slidably connected in the movable through groove; the bottom end of the sliding transfer block (23) is fixedly connected to an inner support plate (5).

2. The intelligent inspection robot based on vision-assisted detection according to claim 1 is characterized in that: A groove is formed at one end of the mechanical arm, a clamping motor (12) is installed in the groove, and an output shaft of the clamping motor (12) is fixedly connected to a driving gear (7) meshing with an upper fixed gear ring (11).

3. The intelligent inspection robot based on vision-assisted detection according to claim 1 is characterized in that: One end of the mechanical arm is fixedly connected to a fixed driving rod (16) extending into the interior of the hollow worm gear (2); a surface of the fixed driving rod (16) is threadedly connected to a trapezoidal pushing block (17); and a top end of the trapezoidal pushing block (17) is fixedly connected to a connecting sliding rod (26) slidably connected to the inner wall of the hollow worm gear (2).

4. The intelligent inspection robot based on vision-assisted detection according to claim 1 is characterized in that: A rotating motor (6) is installed at the top of the adapter disc (8), and a rolling gear (10) meshing with a lower fixed gear ring (14) is fixedly connected to the output end of the rotating motor (6).

5. The intelligent inspection robot based on vision-assisted detection according to claim 1 is characterized in that: A hole is provided on the surface of the tooth detection rod (9), and a crack detection camera (22) is installed inside the hole.

6. The intelligent inspection robot based on vision-assisted detection according to claim 1, characterized in that: The surface of the inner support plate (5) is provided with a rubber layer, and the surface of the rubber layer is provided with anti-slip grooves. The inner wall of the movable through groove is installed with an inner diameter photoelectric sensor (24). The sliding adapter block (23) is connected to the inner wall of the movable through groove with a return spring (25), and the top end of the sliding adapter block (23) is fixedly connected with an oblique thrust guide plate (15).

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